Planar Motion and Three-Dimensional Structure Recovery from Image Sequences Based on a Fish-Eye Projection Model

摘要

In this paper we propose a factorization method that can simultaneously recover planar motion and three-dimensional structure from image sequences captured using a fish- eye camera. Here we assume that the fish-eye camera moves on a plane with the optical axis perpendicular to the plane. Our method is based on a fish-eye projection model that captures the image sequence under this planar motion. In our experiments using an imaging robot, we apply this method to images obtained indoors and show that it is an effective method for simultaneously recovering planar motion and three-dimensional structure with a high level of accuracy. In addition, from evaluations of the precision of shape recovery we confirm that the precision with which shapes can be recovered is dependent on the angle of elevation and thereby clarify the scope within which this method is applicable.